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<a href="#nested-classes">Classes</a> &#124;
<a href="#enum-members">Enumerations</a>  </div>
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<div class="title">Spatial Mapping Module</div>  </div>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsl_1_1SpatialMappingParameters.html">SpatialMappingParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the spatial mapping parameters.  <a href="classsl_1_1SpatialMappingParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsl_1_1Mesh.html">Mesh</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping.  <a href="classsl_1_1Mesh.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsl_1_1Chunk.html">Chunk</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Represents a sub-mesh, it contains local vertices and triangles.  <a href="structsl_1_1Chunk.html#details">More...</a><br /></td></tr>
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Enumerations</h2></td></tr>
<tr class="memitem:ga3155f0333317e8cfd79ecccbff77077e"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga3155f0333317e8cfd79ecccbff77077e">MAPPING_RESOLUTION</a> </td></tr>
<tr class="memdesc:ga3155f0333317e8cfd79ecccbff77077e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spatial mapping depth resolution presets.  <a href="group__SpatialMapping__group.html#ga3155f0333317e8cfd79ecccbff77077e">More...</a><br /></td></tr>
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<tr class="memitem:ga9b385192e8e881f046b9de8dd899f107"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga9b385192e8e881f046b9de8dd899f107">MAPPING_RANGE</a> </td></tr>
<tr class="memdesc:ga9b385192e8e881f046b9de8dd899f107"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spatial mapping depth range presets.  <a href="group__SpatialMapping__group.html#ga9b385192e8e881f046b9de8dd899f107">More...</a><br /></td></tr>
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<tr class="memitem:ga3891995bfc75dc464dc1d310a7eb7a71"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga3891995bfc75dc464dc1d310a7eb7a71">SPATIAL_MAP_TYPE</a> </td></tr>
<tr class="memdesc:ga3891995bfc75dc464dc1d310a7eb7a71"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spatial Mapping type (default is mesh)  <a href="group__SpatialMapping__group.html#ga3891995bfc75dc464dc1d310a7eb7a71">More...</a><br /></td></tr>
<tr class="separator:ga3891995bfc75dc464dc1d310a7eb7a71"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga001684799cf2f2a948bfa463f39cae19"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga001684799cf2f2a948bfa463f39cae19">MESH_FILE_FORMAT</a> </td></tr>
<tr class="memdesc:ga001684799cf2f2a948bfa463f39cae19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mesh formats that can be saved/loaded with spatial mapping.  <a href="group__SpatialMapping__group.html#ga001684799cf2f2a948bfa463f39cae19">More...</a><br /></td></tr>
<tr class="separator:ga001684799cf2f2a948bfa463f39cae19"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga090065a0a84ccbbd05da8e14bd8db51d"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga090065a0a84ccbbd05da8e14bd8db51d">MESH_FILTER</a> </td></tr>
<tr class="memdesc:ga090065a0a84ccbbd05da8e14bd8db51d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Presets for filtering meshes scannedw ith spatial mapping. Higher values reduce total face count by more.  <a href="group__SpatialMapping__group.html#ga090065a0a84ccbbd05da8e14bd8db51d">More...</a><br /></td></tr>
<tr class="separator:ga090065a0a84ccbbd05da8e14bd8db51d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga004c296fb18548aabf8430a59a335958"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga004c296fb18548aabf8430a59a335958">SPATIAL_MAPPING_STATE</a> </td></tr>
<tr class="memdesc:ga004c296fb18548aabf8430a59a335958"><td class="mdescLeft">&#160;</td><td class="mdescRight">Possible states of the ZED's Spatial Mapping system.  <a href="group__SpatialMapping__group.html#ga004c296fb18548aabf8430a59a335958">More...</a><br /></td></tr>
<tr class="separator:ga004c296fb18548aabf8430a59a335958"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga6a917c0031f78daf898e779ddae225a3"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#ga6a917c0031f78daf898e779ddae225a3">PLANE_TYPE</a> </td></tr>
<tr class="memdesc:ga6a917c0031f78daf898e779ddae225a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of the plane, determined by its orientation and whether detected by ZEDPlaneDetectionManager's DetectFloorPlane() or DetectPlaneAtHit().  <a href="group__SpatialMapping__group.html#ga6a917c0031f78daf898e779ddae225a3">More...</a><br /></td></tr>
<tr class="separator:ga6a917c0031f78daf898e779ddae225a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gafae90bf9940ab1644c65bd4c8b3809a6"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__SpatialMapping__group.html#gafae90bf9940ab1644c65bd4c8b3809a6">AREA_EXPORT_STATE</a> </td></tr>
<tr class="memdesc:gafae90bf9940ab1644c65bd4c8b3809a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save Mesh is enabled - a .area file is saved as well.  <a href="group__SpatialMapping__group.html#gafae90bf9940ab1644c65bd4c8b3809a6">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Enumeration Type Documentation</h2>
<a id="ga3155f0333317e8cfd79ecccbff77077e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga3155f0333317e8cfd79ecccbff77077e">&#9670;&nbsp;</a></span>MAPPING_RESOLUTION</h2>

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<p>Spatial mapping depth resolution presets. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga3155f0333317e8cfd79ecccbff77077eab89de3b4b81c4facfac906edf29aec8c"></a>HIGH&#160;</td><td class="fielddoc"><p>Create detailed geometry. Requires lots of memory. </p>
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<tr><td class="fieldname"><a id="gga3155f0333317e8cfd79ecccbff77077eac87f3be66ffc3c0d4249f1c2cc5f3cce"></a>MEDIUM&#160;</td><td class="fielddoc"><p>Small variations in the geometry will disappear. Useful for large objects. </p>
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<tr><td class="fieldname"><a id="gga3155f0333317e8cfd79ecccbff77077ea41bc94cbd8eebea13ce0491b2ac11b88"></a>LOW&#160;</td><td class="fielddoc"><p>Keeps only large variations of the geometry. Useful for outdoors. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga9b385192e8e881f046b9de8dd899f107">&#9670;&nbsp;</a></span>MAPPING_RANGE</h2>

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<p>Spatial mapping depth range presets. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga9b385192e8e881f046b9de8dd899f107a64edd4ee9ed5a7e9621fd405be8244d5"></a>NEAR&#160;</td><td class="fielddoc"><p>Geometry within 3.5 meters of the camera will be mapped. </p>
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<tr><td class="fieldname"><a id="gga9b385192e8e881f046b9de8dd899f107ac87f3be66ffc3c0d4249f1c2cc5f3cce"></a>MEDIUM&#160;</td><td class="fielddoc"><p>Geometry within 5 meters of the camera will be mapped. </p>
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<tr><td class="fieldname"><a id="gga9b385192e8e881f046b9de8dd899f107a31234537adb52d5df18dc9596010708b"></a>FAR&#160;</td><td class="fielddoc"><p><a class="el" href="structsl_1_1Objects.html" title="Object Scene data directly from the ZED SDK. Represents all detections given during a single image fr...">Objects</a> as far as 10 meters away are mapped. Useful for outdoors. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga3891995bfc75dc464dc1d310a7eb7a71">&#9670;&nbsp;</a></span>SPATIAL_MAP_TYPE</h2>

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<p>Spatial Mapping type (default is mesh) </p>
<p>m </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga3891995bfc75dc464dc1d310a7eb7a71a5b65fe46c5dd90ebcec69c472c3be1d9"></a>MESH&#160;</td><td class="fielddoc"><p>Represent a surface with faces, 3D points are linked by edges, no color information </p>
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<tr><td class="fieldname"><a id="gga3891995bfc75dc464dc1d310a7eb7a71a707bb8dff3e5da826f4e5159a3657689"></a>FUSED_POINT_CLOUD&#160;</td><td class="fielddoc"><p>Geometry is represented by a set of 3D colored points. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga001684799cf2f2a948bfa463f39cae19">&#9670;&nbsp;</a></span>MESH_FILE_FORMAT</h2>

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<p><a class="el" href="classsl_1_1Mesh.html" title="A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping.">Mesh</a> formats that can be saved/loaded with spatial mapping. </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga001684799cf2f2a948bfa463f39cae19a4a3c9b033e217d93b5841938bc23e3a2"></a>PLY&#160;</td><td class="fielddoc"><p>Contains only vertices and faces. </p>
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<tr><td class="fieldname"><a id="gga001684799cf2f2a948bfa463f39cae19a35d3245a21b0942070419ef6602d239e"></a>BIN&#160;</td><td class="fielddoc"><p>Contains only vertices and faces, encoded in binary. </p>
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<tr><td class="fieldname"><a id="gga001684799cf2f2a948bfa463f39cae19af34d534adfb78a9e6432be4621a93eec"></a>OBJ&#160;</td><td class="fielddoc"><p>Contains vertices, normals, faces, and texture information (if possible). </p>
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<p>Presets for filtering meshes scannedw ith spatial mapping. Higher values reduce total face count by more. </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga090065a0a84ccbbd05da8e14bd8db51da41bc94cbd8eebea13ce0491b2ac11b88"></a>LOW&#160;</td><td class="fielddoc"><p>Soft decimation and smoothing. </p>
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<tr><td class="fieldname"><a id="gga090065a0a84ccbbd05da8e14bd8db51dac87f3be66ffc3c0d4249f1c2cc5f3cce"></a>MEDIUM&#160;</td><td class="fielddoc"><p>Decimate the number of faces and apply a soft smooth. </p>
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<tr><td class="fieldname"><a id="gga090065a0a84ccbbd05da8e14bd8db51dab89de3b4b81c4facfac906edf29aec8c"></a>HIGH&#160;</td><td class="fielddoc"><p>Drastically reduce the number of faces. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga004c296fb18548aabf8430a59a335958">&#9670;&nbsp;</a></span>SPATIAL_MAPPING_STATE</h2>

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<p>Possible states of the ZED's Spatial Mapping system. </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga004c296fb18548aabf8430a59a335958a86bf8c89d85949f8f45cde2f73fce113"></a>INITIALIZING&#160;</td><td class="fielddoc"><p>Spatial mapping is initializing. </p>
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<tr><td class="fieldname"><a id="gga004c296fb18548aabf8430a59a335958ae0aa021e21dddbd6d8cecec71e9cf564"></a>OK&#160;</td><td class="fielddoc"><p>Depth and tracking data were correctly integrated into the fusion algorithm. </p>
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<tr><td class="fieldname"><a id="gga004c296fb18548aabf8430a59a335958aea8a564efbb910c22c45506553bb7469"></a>NOT_ENOUGH_MEMORY&#160;</td><td class="fielddoc"><p>Maximum memory dedicated to scanning has been reached; the mesh will no longer be updated. </p>
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<tr><td class="fieldname"><a id="gga004c296fb18548aabf8430a59a335958a987ccd915b17c81fb4ed90447146d3ab"></a>NOT_ENABLED&#160;</td><td class="fielddoc"><p>EnableSpatialMapping() wasn't called (or the scanning was stopped and not relaunched). </p>
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<tr><td class="fieldname"><a id="gga004c296fb18548aabf8430a59a335958a64c627caf0d127cf9d5d3a1ec9d31624"></a>FPS_TOO_LOW&#160;</td><td class="fielddoc"><p>Effective FPS is too low to give proper results for spatial mapping. Consider using performance-friendly parameters (DEPTH_MODE_PERFORMANCE, VGA or HD720 camera resolution, and LOW spatial mapping resolution). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ga6a917c0031f78daf898e779ddae225a3">&#9670;&nbsp;</a></span>PLANE_TYPE</h2>

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<p>Type of the plane, determined by its orientation and whether detected by ZEDPlaneDetectionManager's DetectFloorPlane() or DetectPlaneAtHit(). </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga6a917c0031f78daf898e779ddae225a3a56c1e354d36beb85b0d881c5b2e24cbe"></a>FLOOR&#160;</td><td class="fielddoc"><p>Floor plane of a scene. Retrieved by ZEDPlaneDetectionManager.DetectFloorPlane(). </p>
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<tr><td class="fieldname"><a id="gga6a917c0031f78daf898e779ddae225a3a99a4b449ee13d0e58c3728c9db308725"></a>HIT_HORIZONTAL&#160;</td><td class="fielddoc"><p>Horizontal plane, such as a tabletop, floor, etc. Detected with DetectPlaneAtHit() using screen-space coordinates. </p>
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<tr><td class="fieldname"><a id="gga6a917c0031f78daf898e779ddae225a3a5b8a39fa4396c40e53d04cb05aeb0324"></a>HIT_VERTICAL&#160;</td><td class="fielddoc"><p>Vertical plane, such as a wall. Detected with DetectPlaneAtHit() using screen-space coordinates. </p>
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<tr><td class="fieldname"><a id="gga6a917c0031f78daf898e779ddae225a3add99114a3c0b0a0b69539c7301a1caf4"></a>HIT_UNKNOWN&#160;</td><td class="fielddoc"><p>Plane at an angle neither parallel nor perpendicular to the floor. Detected with DetectPlaneAtHit() using screen-space coordinates. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#gafae90bf9940ab1644c65bd4c8b3809a6">&#9670;&nbsp;</a></span>AREA_EXPORT_STATE</h2>

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<p>Possible states of the ZED's spatial memory area export, for saving 3D features used by the tracking system to relocalize the camera. This is used when saving a mesh generated by spatial mapping when Save <a class="el" href="classsl_1_1Mesh.html" title="A mesh contains the geometric (and optionally texture) data of the scene captured by spatial mapping.">Mesh</a> is enabled - a .area file is saved as well. </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ggafae90bf9940ab1644c65bd4c8b3809a6ab7f26396d2651f5afe61756ad14762fa"></a>AREA_EXPORT_STATE_SUCCESS&#160;</td><td class="fielddoc"><p>Spatial memory file has been successfully created. </p>
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<tr><td class="fieldname"><a id="ggafae90bf9940ab1644c65bd4c8b3809a6ae89184f4a5c27101ce296177f78507d0"></a>AREA_EXPORT_STATE_NOT_STARTED&#160;</td><td class="fielddoc"><p>Spatial memory file export has not been called. </p>
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<tr><td class="fieldname"><a id="ggafae90bf9940ab1644c65bd4c8b3809a6a42bf302152e2b8eb2a69eb49b562d434"></a>AREA_EXPORT_STATE_FILE_EMPTY&#160;</td><td class="fielddoc"><p>Spatial memory contains no data; the file is empty. </p>
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<tr><td class="fieldname"><a id="ggafae90bf9940ab1644c65bd4c8b3809a6afc3d2bf11ef43ad215def40c027b16b0"></a>AREA_EXPORT_STATE_FILE_ERROR&#160;</td><td class="fielddoc"><p>Spatial memory file has not been written to because of a bad file name. </p>
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<tr><td class="fieldname"><a id="ggafae90bf9940ab1644c65bd4c8b3809a6a846b6b09a541db2dab725e9cbc43df34"></a>AREA_EXPORT_STATE_SPATIAL_MEMORY_DISABLED&#160;</td><td class="fielddoc"><p>Spatial memory has been disabled, so no file can be created. </p>
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